JP6624150B2 - 自動運転システム - Google Patents
自動運転システム Download PDFInfo
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- JP6624150B2 JP6624150B2 JP2017078396A JP2017078396A JP6624150B2 JP 6624150 B2 JP6624150 B2 JP 6624150B2 JP 2017078396 A JP2017078396 A JP 2017078396A JP 2017078396 A JP2017078396 A JP 2017078396A JP 6624150 B2 JP6624150 B2 JP 6624150B2
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Description
この自動運転システムによれば、自動運転制御の解除後に第1走行計画の第1信頼度が第2走行計画の第2信頼度未満である場合であっても、車両のドライバにより第1走行計画による自動運転制御の再開が許可されたときには第1走行計画による自動運転制御を再開する。これにより、ドライバの意図に沿って自動運転制御を再開することができ、利便性の向上を図ることができる。
この自動運転システムによれば、自動運転制御の解除後に第1走行計画の第1信頼度が第2走行計画の第2信頼度未満である場合であっても、第1走行計画がドライバの運転傾向に沿うと判定されたときには、ドライバの自動運転制御開始の要求に応じて第1走行計画による自動運転制御を再開する。従って、この自動運転システムによれば、第1走行計画の第1信頼度が第2走行計画の第2信頼度未満であっても、第1走行計画がドライバの運転傾向に沿うときには、第1走行計画がドライバにとって違和感がない可能性が高いことから、ドライバの自動運転制御開始の要求に応じて第1走行計画による自動運転制御を再開することで、利便性の向上を図ることができる。
図1は、第1の実施形態に係る自動運転システムを示すブロック図である。図1に示すように、第1の実施形態に係る自動運転システム100は、乗用車などの車両Mに搭載されており、車両Mの自動運転制御を行うためのシステムである。自動運転システム100は、自動運転が可能であるか否かを判定し、自動運転が可能であると判定した場合、且つ、ドライバによる自動運転制御の開始操作(自動運転制御の開始ボタンを押す操作など)が行われた場合に、車両Mの自動運転制御を開始する。自動運転制御とは、予め設定された目標ルートに沿って自動で車両Mを走行させる車両制御である。自動運転制御では、ドライバが運転操作を行う必要が無く、車両Mが自動で走行する。目標ルートとは、自動運転制御において車両Mが走行する地図上の経路である。
図5は、第2の実施形態に係る自動運転システムを示すブロック図である。図5に示す第2の実施形態に係る自動運転システム200は、自動運転制御の解除後、第1走行計画の第1信頼度が第2走行計画の第2信頼度未満であっても、ドライバにより第1走行計画による自動運転制御の再開が許可されたときには第1走行計画による自動運転制御を再開する点が第1の実施形態と比べて異なっている。
図7は、第3の実施形態に係る自動運転システムを示すブロック図である。図7に示す第3の実施形態に係る自動運転システム300は、自動運転制御の解除後、第1走行計画の第1信頼度が第2走行計画の第2信頼度未満であっても、第1走行計画がドライバの運転傾向に沿うと判定されたときには、第1走行計画による自動運転制御を再開する点が第1の実施形態と比べて異なっている。
Claims (3)
- 車両の自動運転制御を行う自動運転システムであって、
前記車両の位置測定部の測定結果に基づいて、前記車両の位置を認識する位置認識部と、
前記車両の外部状況を検出する外部センサの検出結果に基づいて、前記車両の周辺環境を認識する環境認識部と、
前記車両の状態を検出する内部センサの検出結果に基づいて、前記車両の状態を認識する車両状態認識部と、
認識された前記車両の位置、認識された前記車両の周辺環境、及び認識された前記車両の状態に基づいて、前記車両の第1走行計画を生成する第1計画部と、
認識された前記車両の位置の信頼度、認識された前記車両の周辺環境の認識の信頼度、認識された前記車両の状態の認識の信頼度、及び生成された前記第1走行計画の生成周期、及び前記第1走行計画と予め定められた走行計画のパターンとの一致度の少なくともいずれかに基づいて、前記第1走行計画の第1信頼度を算出する第1信頼度算出部と、
認識された前記車両の位置、認識された前記車両の周辺環境、及び認識された前記車両の状態のうち、1つ又は2つに基づいて前記車両の第2走行計画を生成する第2計画部と、
認識された前記車両の位置、認識された前記車両の周辺環境、及び認識された前記車両の状態のうち、前記第2計画部が前記第2走行計画を生成する際に用いた認識結果の信頼度、及び生成された前記第2走行計画の生成周期、及び前記第2走行計画と予め定められた走行計画のパターンとの一致度の少なくともいずれかに基づいて、前記第2走行計画の第2信頼度を算出する第2信頼度算出部と、
前記第1走行計画に基づいて前記車両の前記自動運転制御を実行すると共に、前記第1走行計画の前記第1信頼度が前記第2走行計画の前記第2信頼度未満である間は、前記第2走行計画に基づいて前記自動運転制御を実行する走行制御部と、
予め設定された自動運転解除条件が満たされた場合に、前記自動運転制御を解除する自動運転解除部と、
前記自動運転解除部により前記自動運転制御が解除された場合において、前記第1走行計画の前記第1信頼度が前記第2走行計画の前記第2信頼度以上であるとき、前記第1走行計画により前記自動運転制御を再開し、前記第1走行計画の前記第1信頼度が前記第2走行計画の前記第2信頼度未満であるとき、前記自動運転制御を再開しないエンゲージ制御部と、
を備え、
前記第1信頼度の算出に前記第1走行計画を用いず、且つ、前記第2信頼度の算出に前記第2走行計画を用いない場合に、前記第1信頼度の算出に用いる認識結果の信頼度と前記第2信頼度の算出に用いる認識結果の信頼度とは完全一致しない、自動運転システム。 - 前記エンゲージ制御部は、前記自動運転解除部により前記自動運転制御が解除され、前記第1走行計画の前記第1信頼度が前記第2走行計画の前記第2信頼度未満である場合であっても、前記車両のドライバにより前記第1走行計画による前記自動運転制御の再開が許可されたときには、前記第1走行計画による前記自動運転制御を再開する、請求項1に記載の自動運転システム。
- 前記自動運転解除部により前記自動運転制御が解除された場合に、前記車両のドライバによる前記車両の手動運転履歴と前記第1計画部の生成した前記第1走行計画とに基づいて、前記第1走行計画が前記ドライバの運転傾向に沿うか否かを判定する運転傾向判定部を更に備え、
前記エンゲージ制御部は、前記第1走行計画の前記第1信頼度が前記第2走行計画の前記第2信頼度未満であっても、前記運転傾向判定部により前記第1走行計画が前記ドライバの運転傾向に沿うと判定されたときには、前記ドライバの自動運転制御開始の要求に応じて前記第1走行計画による前記自動運転制御を再開する、請求項1又は2に記載の自動運転システム。
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